#include <stdlib.h>
#include <stdbool.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/time.h>
#include <errno.h>
#include "fsm_common_events.h"
#include <stdio.h>

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Classes
struct	fsm_event
	Type for FSM events. More...
struct	fsm_main_loop
struct	robo_fsm
	Structure describing FSM. More...
Defines
#define	EV_NOEVENT __COMMON_EV_NOEVENT
#define	EV_ENTRY __COMMON_EV_ENTRY
#define	EV_EXIT __COMMON_EV_EXIT
#define	EV_RETURN __COMMON_EV_RETURN
#define	EV_TIMER __COMMON_EV_TIMER
#define	FSM_EVENT_QUEUE_LEN 10
#define	FSM_FLAG_EVENT_LOST 0x01
	Set on event queue overrun, never zeroed.
#define	FSM_FLAG_FINISH 0x02
	Set by fsm_exit().
#define	FSM_WAIT_FOREVER -1l
#define	FSM_SIGNAL(fsm_id, event, data)
	Sends an event to another FSM, which may run in another thread.
#define	DBG_STATE() DBG_FSM_STATE(__FUNCTION__)
#define	DBG_FSM_STATE(name) do { if (fsm->debug_states) printf("fsm %s: %s(%s)\n", fsm->debug_name, name, fsm_event_str(fsm->events[fsm->ev_head])); } while(0)
#define	DBG_PRINT_EVENT(msg) printf("fsm %s %s %s: %s\n", fsm->debug_name, fsm->state_name, fsm_event_str(fsm->events[fsm->ev_head]), msg)
	Prints current event in a human readable form.
#define	FSM_STATE_VISIBILITY
	Specifies state function visibility.
#define	___fsm_func_name(fsm, state, suf) fsm_state_##fsm##_##state##suf
#define	__fsm_func_name(fsm, state, suf) ___fsm_func_name(fsm, state, suf)
#define	FSM_STATE(name) error_FSM_XXX_not_defined
	Defines a state function for finite state machine.
#define	FSM_STATE_DECL(name) error_FSM_XXX_not_defined
	Declares a prototype of state function defined later.
#define	FSM_STATE_FULL_DECL(fsm_name, name) int __fsm_func_name(fsm_name, name,)(struct robo_fsm *fsm)
	Declares a prototype of state function of given FSM.
#define	FSM_TIMER(ms)
	Sets FSM's one-shot timer.
#define	FSM_TIMER_STOP() __fsm_timer_stop(fsm)
	Stops the timer.
#define	__FSM_EVENT_ENUM enum fsm_common_events
#define	FSM_EVENT ((__FSM_EVENT_ENUM)(fsm->events[fsm->ev_head].id))
	Value of current event in state functions.
#define	FSM_EVENT_PTR (fsm->events[fsm->ev_head].data)
	Value of the pointer sent together with the event.
#define	FSM_EVENT_INT ((long int)(fsm->events[fsm->ev_head].data))
	Value of the integer data sent together with the event.
#define	FSM_TRANSITION(next) error_FSM_XXX_not_defined
	Sets current state to `next`.
#define	SUBFSM_TRANSITION(substate, data) error_FSM_XXX_not_defined
	Invoke state transition to sub-FSM.
#define	SUBFSM_RET(data)
	Return from sub-FSM.
Return codes of state functions

#define	RC_WAIT 0
	After return, FSM thread starts waiting for the new event.
#define	RC_PROC 1
	After return, current state function (fnc_act) will be immediately called again.
Typedefs
typedef struct fsm_event	fsm_event
	Type for FSM events.
typedef int(*	robo_fsm_state_t )(struct robo_fsm *fsm)
	Event handler function for FSM.
Functions
void	fsm_main_loop_init (struct fsm_main_loop *loop)
	Initializes main loop.
void	fsm_init (struct robo_fsm fsm, char debug_name, struct fsm_main_loop *loop)
	FSM initialization.
int	fsm_start (struct fsm_main_loop loop, pthread_attr_t attr)
	Starts previously initialized FSM main loop in a separate thread.
void	fsm_exit (struct robo_fsm *fsm)
	Signals FSM to exit.
void	fsm_destroy (struct robo_fsm *fsm)
	Deallocates all resources allocated by fsm_init().
void	fsm_main_loop (struct fsm_main_loop *loop)
	FSM main event loop.
void	__fsm_timespec_add_ms (struct timespec ts, struct timespec now, long ms)
	Set timespec to some time from now.
void	__fsm_timespec_invalidate (struct timespec *ts)
int	__fsm_timespec_cmp (struct timespec ts1, struct timespec ts2)
int	fsm_nop_state (struct robo_fsm *fsm)
	Non operative state, do nothing.
const char *	fsm_event_str (fsm_event ev)
	Returns string with the name of event submitted as parameter.
const char *	fsm_common_event_str (fsm_event ev)
void	__fsm_timer_stop (struct robo_fsm *)

Define Documentation

#define ___fsm_func_name	(	fsm,
		state,
		suf
	)		fsm_state_##fsm##_##state##suf

#define __FSM_EVENT_ENUM enum fsm_common_events

#define __fsm_func_name	(	fsm,
		state,
		suf
	)		___fsm_func_name(fsm, state, suf)

#define DBG_FSM_STATE ( name ) do { if (fsm->debug_states) printf("fsm %s: %s(%s)\n", fsm->debug_name, name, fsm_event_str(fsm->events[fsm->ev_head])); } while(0)

#define DBG_STATE ( ) DBG_FSM_STATE(__FUNCTION__)

#define EV_ENTRY __COMMON_EV_ENTRY

#define EV_EXIT __COMMON_EV_EXIT

#define EV_NOEVENT __COMMON_EV_NOEVENT

#define EV_RETURN __COMMON_EV_RETURN

#define EV_TIMER __COMMON_EV_TIMER

#define FSM_EVENT_QUEUE_LEN 10

#define FSM_FLAG_EVENT_LOST 0x01

Set on event queue overrun, never zeroed.

#define FSM_FLAG_FINISH 0x02

Set by fsm_exit().

#define FSM_STATE_VISIBILITY

Specifies state function visibility.

If this macro is redefined from "" (empty) to static, then the state functions are declared as static.

#define FSM_WAIT_FOREVER -1l

#define RC_PROC 1

After return, current state function (fnc_act) will be immediately called again.

Used by FSM_TRANSITION().

#define RC_WAIT 0

After return, FSM thread starts waiting for the new event.

Function Documentation

void __fsm_timer_stop ( struct robo_fsm * )

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void __fsm_timespec_add_ms	(	struct timespec *	ts,
		struct timespec *	now,
		long	ms
	)

Set timespec to some time from now.

Parameters:

`[out]`	ts	Result
`[in]`	now	Actual time or NULL. If NULL, actual time is determined by calling gettimeofday().
`[in]`	ms	number of milliseconds to be set

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int __fsm_timespec_cmp	(	struct timespec *	ts1,
		struct timespec *	ts2
	)			`[inline]`

void __fsm_timespec_invalidate ( struct timespec * ts ) [inline]

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const char* fsm_common_event_str ( fsm_event ev )

void fsm_main_loop ( struct fsm_main_loop * loop )

FSM main event loop.

Dispatches FSM events and calls appropriate state functions.

Parameters:

loop

Specifies which FSMs are handled by this main loop.

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void fsm_main_loop_init ( struct fsm_main_loop * loop )

Initializes main loop.

Parameters:

loop

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int fsm_nop_state ( struct robo_fsm * fsm )

Non operative state, do nothing.

fsm.h File Reference

Classes

Defines

Typedefs

Functions

Define Documentation

Function Documentation